JPH03285736A - Robot-controlled multi-task type end effector - Google Patents

Abstract

PURPOSE: To obtain many tools improved to execute transportation of a mounting device for an end effector for a tool head by disposing detectors which respond to the turning motion of nose pieces. CONSTITUTION: The detectors 55 are connected to respective assemblies having springs and rods and detect the movement deviating from the state that the nose piece 50 is aligned to the axis of a hollow shaft. The detection data obtd. in such a manner is sent to an end effector controller and master computer which display the position alignment of the nose piece 50.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention generally relates to a technique for fixing, and more specifically, the present invention relates to a fixing technique using a rivet, a member, or a similar fixing tool. This invention relates to an improvement in a 1-2 tool pick-up device that is effective for use in a robot-type machining center that aims to automatically place and install parts.

[Prior Art and Problems to be Solved by the Invention] Modern manufacturing technology employs computer-controlled robots. This robot is equipped with at least one drive shaft, and this drive shaft can drive various machining tools. The robot is also adapted to be arbitrarily positioned and installed, and to perform a variety of automatic machining operations.

More recently, such robots 1 have been adapted to use rivet parts O4 or similar fasteners,
In this case, a pair of robots 1 and 1, working in mirror image relationship,
However, the procedure for fixing operations is automatically carried out on the opposite side of one of the tools used to assemble the parts. A device to this extent is disclosed in U.S. Pat. Next, the operating procedure of a twin robot specifically equipped with the end effector of the present invention will be explained in order to assemble a wing section and a middle fuselage section of an aircraft.

The present invention is disclosed in U.S. Pat. No. 4,885, previously cited.

Based on the '836 patent, improvements are made to an end effector useful for use with a pair of computer-controlled robots working on opposite sides of an assembly held in a fixture. In this end effector, robot 1.
The end effectors individually house end effectors, and these end effectors carry various J1 tools for drilling holes through assembly parts, setting rims for fixing rivets 1, and similar operations. transport.

An important object of the present invention is to provide an improved number of tools for conveying end effector removal devices for movable tool heads of robotic machining centers, or "robots". There is a particular thing.

Another feature of the invention is the use of a movable head of a robot 1 to hold a single robot in a fixed position engaging the parts to be assembled to perform a plurality of selected machining operations. An object of the present invention is to provide an improved end effector capable of operating a tool.

[Means and effects for solving the problems] The present invention is attached to a twist head movable in an arc shape of a robot controlled by a computer, and the robot can perform many linear and rotational movements. In a possible multitasking end effector, the multitasking end effector has a substantially cylindrical intermediate connection part coaxially with the end effector and removably connected to the outer end of the twist head of the robot. the intermediate connection also connects the power drive of the end effector to the robot power supply system, the multitasking end effector having a generally cylindrical tool head; has a hollow elongated body, the body of the tool head is coaxially attached to the outer end of the intermediate connection, and the multitasking end effector has a generally cylindrical nose. a nosepiece mounted coaxially and capable of limited rotational movement relative to the outer end of the body; , the multi-tasking end effector is configured to perform rotational motion of the nosepiece to indicate non-coaxial alignment of the nosepiece and the main body. The invention is characterized in that it is equipped with a detection device that responds to

According to a preferred form of the invention, the first end effector is mounted on the tool head of the first robot;
Transports multiple operating tools. This operating tool includes, for example, a riveter I/carrying jaw cutting device, drilling and countersinking (operated by the spindle of the m-bot tool head) 1. a supporting bar member for setting the rivet, and a device for applying a sealant to the fixture opening formed through the erected part. These various tools can be operated at separate predetermined positions on a movable shuttle, which is controlled by a computer to index the several tool devices to their operating positions. , in this indexed operating position, these E tools are aligned coaxially with respect to the spindle of the robot tool. The second end effector is attached to the head of the robot disposed opposite to each other, and cooperates with the first end effector to form parts assembled between the first end effector and the second end effector. Clamp and convey a suitable rivet setting hammer. This rivet setting hammer is a hammer for expanding the diameter of the rivet at the location where it is to be fixed. Other configurations and combinations of specific tools carried by end effectors are fully contemplated by the present invention.

A preferred structure of the machine tool 1, which will be described later, is such that the clamped mounting forms six holes through the part held by the fixture, and these six holes are in a state where the fixture can be inserted and removed easily. Moreover, the two end effectors remain in one clamp position. As an alternative to such a construction, all holes to be formed in the assembled parts should be continuous 2 , with a robotically controlled end effector and a tool head that can be replaced immediately, as already cited in the US. 4,885,836, the selected fixtures are placed opposite the six pre-formed holes for attachment, and an end effector is provided for manipulating each tool. It's okay if you don't need to change it.

This end effector is attached to the head of a computer-controlled robot, can be positioned around multiple linear axes and rotational axes, and has a spatial extension, and is connected to the robot and end effector. In conjunction, the attachment is capable of performing the action of attaching the fixture to the component held by the fixture.

Additionally, the robotically controlled end effector provides automatic alignment of the nosepiece that engages the assembled parts and a device that indicates the status of its alignment.

3 4 This end effector is attached to the movable head of a robot-type machining center (1 cut, installation is done by applying pressure held by a tool).A rivet is sent into the opening pre-formed in 1 and inserted. and an improved apparatus for applying sealant to such openings.

〔Example〕

Embodiments of the present invention will now be described in detail with reference to the drawings.

The invention is particularly directed to the double cited U.S. Pat. No. 4,888.
5.836 for the purpose of removing fixing rivets and similar fixing members, etc., in the context of a work cell to implement the features described in sufficient detail in No. 5.836. Ru.

In other words, the pair of high-speed machining centers disclosed in this patent, that is, the "robot" with a Cartesian structure, has an X-axis that is a horizontal axis, a Y-axis that is a vertical axis, and a Z-axis that is an axis that crosses these. and is used in work cells. The X-axis of each bot is approximately determined by an associated horizontal linear guideway along which a power-activated device moves the robot. , the Y axis is determined by the central vertical column of the Robo Soto, and the Z axis is determined by the horizontal ram that can traverse the vertical column along the linear axis.

Furthermore, the vertical column of the robot performs rotational movement about its central axis, and the twisting head is attached to the outer end of the ram for rotation about a pair of transversely related rotational axes. installed. This twist head has a rotatable hollow shaft.
This hollow shaft defines a linear axis along which a tool fixed to this hollow shaft moves forward and backward. With this shift, each robot can implement three main axes of linear motion and three axes of rotational motion for positioning the robot's twist head to have a spatial extension. .

In the middle part of the two robots in this work cell, a flexible or adjustable automatic mounting is installed. It is used to hold target parts and components such as aircraft wing panels, ribs, or mid-fuselage sections). Normally, the two robots are mounted on opposite sides of the component held by the handle.
Mountings placed parallel to the axis and between this X-axis operate in mirror image relation to the tool.

The entire workcell is primarily controlled by a host computer that receives computer aided manufacturing (CAM) work instructions. This work instruction is received via a direct numerical controller (DNC) or other device.

This host computer further receives work instructions from an operator. This operator is the one who controls the work instructions to determine or refine the shape of the final assembly. All output signals are sent from the host computer to a subordinate computer associated with the host computer, and feedback signals are sent to the host computer when this work instruction is executed by the robot.

- Speaking within the membrane, does the postcomputer give instructions to the subcomputer? Eh, this computer is...]
By controlling the selection of the robot and end effector, the robot can be equipped with the desired tool and supplied with the correct tool to perform the desired fixation operation.

Furthermore, this host computer also manages a series of movements of the robot. This sequence of operations includes clamping, drilling, inserting, and setting the fixtures, as well as positioning and manipulating the attachment tools to achieve the desired shape of the assembled parts.

Robotic machining tools capable of performing tasks such as those generally described above are available from several commercial sources.

This is, for example, a tool such as that commercially available from JOB] 8 S of Piersensor in Italy as an example of a machine that has the versatility and high precision necessary for a tool to perform the positioning work required by the present invention. be.

For example, such machines can perform drilling, countersinking, milling, routing, netting, rimming, impacting, and other machining operations, as well as other operations and related operations. Such a machine is described in sufficient detail in the already referenced US Pat. No. 4,885,836.

With respect to the end effectors described and used in the robotic control system in the aforementioned U.S. Pat. It is recognized that their operational performance is limited in terms of requirements. Therefore, when one single task is completed, the robot needs to change its end effector so that it can perform the task defined in the next procedure. In contrast, the present invention relates to an end effector capable of performing multi-tasking operations, such as drilling holes for rivets and mounting for holding parts or components. A multi-task cycle that has tasks such as removing a rivet on one tool, and removing a pair of robots from the associated robot by removing an appropriate end effector. You can start it and finish it without having to do anything.

In Figure 1, two robots (not shown) working together
have opposing end effectors 20.21, respectively.
is installed. As already explained, such a robot can have its end effector perform various movements.

The end effector 20 is a device that constitutes a multitasking system, and for this (7, end effector 2)
As shown in FIG. 1, this is a single task type device. This end 9 effector 21 is indispensable in this specification for explaining the fixing rivet fixing rivet according to the embodiment of the present invention.

Typically, the robot supports an end effector 20 and includes a rotatable spindle and a hollow shaft 25 that has a tool boulder 26 extending coaxially therewith. The receiver is inserted, and this holder 26 is rotationally driven by the hollow shaft 25, and further,
It is also possible to move the robot linearly along the axis of the hollow shaft 25. This linear movement advances and retracts a drilling and countersinking tool 27 attached to the outer end of the tool holder 26. A tool 27, indicated at 28, is mounted to form an opening through a component of the workpiece held in the tool.

The end effector 20 comprises - in the membrane a cylindrical head 30 to which a bell-shaped member 31 of the intermediate connection is attached, which bell-shaped member 31 has a face plate 32; is connected to the twisting head of the robot by means of a conventional automatic coupling system device according to known technology. Furthermore, in addition to the coupling system cooperating with the twist head of the robot, the bell-shaped member 31 also has air,
A device is provided that automatically couples to a suitable fluid- or electrically-operated power source and a connector integrated into the robot for activating the end effector power system. This will be explained later.

End effector spatula +: 30 main body parts 33
is connected to the bell-shaped member 31 of the intermediate connection. This body portion 33 is hollow and has a cylindrical inner wall 34 . The inner wall 34 includes a transversely associated annular skirt portion 35, an annular wall member 36 fixed to the skirt portion 35 and disposed radially and inwardly, and The relative position with respect to the cylindrical piston chamber 37 coaxial with the cylindrical piston chamber 37 is made clear.

A relatively heavy, large, annular supporting rod positioning member 38 is aligned with a piston chamber 37i, which is open at its front end for receiving the piston. Three suitable bearings, three supporting the piston to limit reciprocating movement, and spaced seals 40.40 completely seal the piston chamber 37 and the wall 34.36. In this way, introducing air pressure from one end of the screw chamber 37 can advance the piston 38 toward the outer end of the end effector body 33. Such forward movement of the piston 38 is subjected to a resistance force by a plurality of return springs 41 provided spaced apart from each other around the circumference. The return spring 41 is interposed between the body of the piston 38 and the generally truncated conical outer end 42 of the body 33 of the end effector.

By selectively adjusting the air pressure acting inside the piston chamber 37, the compression of the return spring 41 is adjusted. In this way, the load resistance of the supporting rod-shaped member 44 fixed to the outer end of the piston 38 can be adjusted. If the air pressure acting inside the cylinder 37 is removed, the movement of the piston 38 by the return spring 41 can be reversed.

As best shown in FIG.
4 extends from the outer end of the piston 38 to form a frustoconical body portion 45, which includes a cylindrical skirt portion 46 held by the piston 38 and a coaxial cylindrical outer end portion 47. The coaxial cylindrical end portion 47 abuts against a supporting rod-shaped bush 48. These will be explained in detail later.

A nose piece 50 is attached to the outer end portion 42 of the main body portion 33 of the end effector so as to be coaxial with a rod-shaped member 44 for support. This nosepiece 50 is shown in particular detail in FIG.

As noted herein, the nosepiece is shaped with a proximal end 51 having a concave hemispherical outer surface 52 which is located at the end of the body of the end effector. Jff is movably aligned with the annular hemispherical concave surface 3 formed on the outer end 42. The nosepiece 50 is held movably in a desired position by three or more coil springs 53, which are arranged around the periphery of the nosepiece at intervals of 1.20°. , a connector rod 54 which connects the nosepiece to the outer end 42. A sensing device 55 is connected to each assembly having a spring and a rod so that the nosepiece is connected to the robot. Movement out of alignment with the axis of the hollow shaft is detected. The detected data thus obtained is sent to the end effector control device and the mask computer to indicate the alignment of the nosepiece. In this case, The nosepiece, by virtue of its movability, can follow the degree of curvature of the workpiece 28. Thus, a detector in the endpiece indicates the alignment of the endpiece, and the indicated alignment is aligned with the axis of the hollow shaft of the robot. If it shows that the rice is not coaxial with the nosepiece, make appropriate adjustments to the twist head of the robot before machining.This adjustment will ensure that the rice head is properly coaxial with the nosepiece. It is something we do for the purpose of doing so.

Additionally, end piece 50 can be identified because its main body, foot bush 56, is generally rectangular. The foot bush 56 coaxially extends outward from one side of the spherical proximal end 5 of the nosepiece. The foot bush 56 is hollow, and one end of the hollow portion is open, and this open end is connected to a cylindrical passage 57 .
passes through the proximal end 51 and forms the population of the tool.

The inlet of this tool is, for example, the passage of a drill 27 for the outer end portion 47 of the supporting bar.

Similarly, the opposite or other end of the foot bushing 56 is likewise open to provide a coaxial passageway for various machining tools, such as a drill 27. An annular pressure sensor 5 at the mouth of the outer open end such as
8 adjacent or surrounding the mouth of the outer open end;
This pressure sensor 58 sends a signal to the convenience store 6 which controls the end effector. This signal is output when the nosepiece contacts the workpiece 28 before the tool starts the machining operation of drilling a hole through the workpiece.

A shuttle device 60 is slidably mounted across the five side openings of the nosepiece 50 and is elongated and generally rectangular in shape. This is best shown in FIGS. 1-4.

This shuttle device indexes various tools and operating positions. This operation position is an alignment position coaxial with the central axis of the nosepiece, and is a position for inserting and removing the tool.

The operating positions of the selected two tools are the shuttle device 6.
In the shape shown in the drawings, the shuttle device is provided with four operating positions, three of which can be operated in any manner with respect to the two F-tools,
That is, it supports the sealant applicator 61, the rod-shaped bush 48 for support, and the rivet feeding system 62. The fourth operating position constitutes a drilling station 63 for forming a passage for the drill 27 (see FIG. 4).

The elongated body portion 65 of the shuttle device has opposing planar sides 66.67.
67 provides indexing or movement of the various operating positions of the shuttle device so that the tooling of the nosepiece 50 is operated coaxially.

An elongated sliding rail 68.68 is cut out on the side 66.67 of the main body 65 of this shuttle device, and this sliding rail 68.68 is connected to the opposing sliding pad 6.
It is slidably supported between the sliding roses F' 69 by two. These 6 sliding pads are nose piece 5
0 (see FIGS. 2 and 3). In this case, the sliding pads 6 extend across the top and bottom sides of the hollow interior of the foot bushing 56, as shown in the drawings.

The sliding drive of the shuttle device is controlled by a suitable power-driven actuator, such as an air-operated cylinder and piston assembly 70, which is connected to the bracket 71. (See Figures 2 and 3). A lateral drive arm 73 is fixed to the outer end of the piston rod 72 of the air cylinder and piston assembly 70. The lateral drive arm 73 is also coupled to one end of the shuttle device 60 and linearly moves one end of the shuttle device 60 in response to computer-controlled driving of the air cylinder assembly 70. . Other types of actuators may be used for this purpose, such as motor-driven racks and binions, which are known in the art.

The use and operation of the shuttle apparatus will now be described in connection with a particular riveting operation as shown in the figures, with details of the individual tools mounted on the shuttle apparatus 60.

First of all, referring to FIGS. 2-4, the module 61 of the Silan I applicator is shown. The module 61 of this sealant applicator is made of an elongated metal body 75.
The main body 75 of this module is rotatably supported by a pivot shaft 76 in the elongated hole of the main body 65 of the sealant applicator. The pivot shaft 76 extends through the top wall 66 and bottom wall 67 of the shuttle device. This shaft is rotatably supported by a bearing provided near one end of the main body 65 of the shuttle, and is fixed to the main body 75 of the sealant applicator by a method such as compression alignment. Further, an electromagnetic motor 77 is fixed to one end of the pivot shaft 76.
and sealant applicator 6]. The rotation of the end of the pivot shaft 76 and the sheet applicator 61 is performed by commands from the control computer. In this way, as shown in FIG. 5, between the (non-operating) position of the sealant applicator 61 indicated by the two-dot chain line and the (operating) position of the sealant applicator 61 indicated by the solid line, This circular arc-shaped rotational movement, q 0 , or limited rotational movement, of the sealant applicator 61 is periodically performed by the motor 77 .

What I would like to note here is that the main body part 7 of the sealant applicator
By projecting the non-rotatingly supported ends 78 of the work piece 28 outward, the seven sealant nozzles can be inserted into the work piece 28.
The point is that it can be placed inside the (
(See Figure 5). This sealant nozzle 79 has a plurality of openings 80 for dispensing the sealant υ1.
distributes the sealant into the rivet openings of the workpiece 28.

Support 1'! The j-arm 81 is attached to the main body 7 of the sealant applicator.
a stop device 8 extending beyond the outer end of 5 and adjustable;
2, and the main body of the sealant applicator is machined 11. The sealant nozzle 9 can be properly aligned in the hole formed by the drill bit 27 in the workpiece held by the tool. I can do it. As shown in FIG. 5, this limiting action is accomplished by engaging a stop 81 at the outer end of the nose bead 50 to the inner surface of the detector ring 58.

In response to the selected indexing motion of shuttle device 60, a selected arcuate movement of sealant applicator 61 is made from the position shown in phantom lines to the position shown in solid lines, as shown in FIG. Then, the sealant nozzle 79
8 through hole''] end, sealant is easily applied to the opening and countersunk portion at this location.

This sealant is applied before the fixing rivet member is introduced at this location.

To carry out this operation, the sealant nozzle must be supplied with sealant material and, according to the invention, the sealant nozzle must be rotated. This rotation of the sealant nozzle must uniformly apply the sealant around the rivet opening and inside the rivet opening.

Next, the operation for obtaining this result will be explained with reference to FIG. FIG. 6 shows the internal working structure of the sealant applicator 611. As shown in this figure, the sealant is supplied via a flexible hose 85 to an annular chamber 86 surrounding a rotatably supported hollow rotating shaft 87.
7 is mounted inside the outer end 78 of the sealant applicator. The sealant enters the hollow coaxial passage 88 of the rotating shaft and is further distributed to the seven sealant nozzle openings 80 via an internal passage 89, shown in broken lines in FIG.

As already noted, the unrun nozzle 79
The rotation applies the sealant evenly to the rivet opening. In order to perform this function, an electromagnetic motor 90 is fixed to the main body 75 of the sealant applicator so that its center of rotation is adjacent to the main body 75 of the sealant applicator. The driven drive shaft 91 is selectively rotated. Three (=I) additional gears 93, 94, which are rotatably mounted.
95 is driven by the drive gear 92, and when the motor 90 is powered, the rotation shaft and the sealant nozzle 7 are connected together with the gear 95 fixed to the end of the rotating shaft 87.
Rotate the shaft.

After the operation of applying the sealant from the sealant nozzle is completed, the electromagnetic motor 77 is energized in the opposite direction, and this motor moves the sealant applicator to the retracted position shown in Figure 4. move it. Thereafter, the shuttle or rivet feeding system 62 is moved to the operating position. This will be explained later.

The features of the rivet feeding system 62 will be described with reference to FIGS. 4, 7, and 8. As shown in FIG. 4, the rivet feeding system 62 includes an elongated body 1.00 (generally similar to the body 75 of a sealant applicator) with a pivot shaft 1.00. O] is rotatably supported near one end and has limited movement within an internal opening formed by a notch near one end of the shuttle device body, similar to the case of a sealant applicator. Do the following. Such rotational movement of the main body 100 of the rivet feeding system 62 is caused by the sealant applicator 6 when the electromagnetic motor 102 that rotates the pivot 4 1-01 is selectively activated (see FIG. 1).
It responds in a manner corresponding to the action in step 1.

As in the case of the rivet applicator, the rivet feeder, together with the main body of the shuttle device, also has a rivet receiving position (
(indicated by a solid line in FIG. 4 and by a broken line in FIG. 7) and the riveting I/feeding position shown by a solid line in FIG. 7. The stop device 103 engages the ring 58 of the detector at the outer end of the body 100 of the rivet feeding system to stop the workpiece 28 of the body 100 of the rivet feeding system.
Limit movement in the direction of.

The lower part of the main body of the rivet feeding system ]-00 has an air-operated gripper mechanism 104 that takes
The gripper mechanism 104 holds the rivet as it is fed into the rivet feeding system 62. In contrast, the rivet feeding system 62 moves between its rivet feeding and rivet ejecting positions. Gripper mechanism 104 is characterized in that, in response to signals from the end effector control computer,
A pair of patterned grippers 105 that move laterally move the lever 1. The point is to grasp the rivet I. and hold the rivet I. between the grippers 105. Such gripper mechanisms suitable for this purpose are manufactured by, for example, SMC Pneumatic Inc.
It is commercially available from the company (MHC series).

In order to place the rivet between the grippers 1.05, the rivet feed system 62 has an open rivet feed groove 10.
6 is provided, and this rivet feeding groove 106 is connected to the main body part 1.
00, and is connected to the rivet feeding head 107. The rivet feeding head 107 is mounted adjacent to the non-rotatably supported end of the main body 1-00. A fixed rivet infeed and feed system 108 has a pressurized air tank 109 and a flexible rivet feed hose 10, and the rivet infeed and feed system 108 has a pressurized air tank 109 and a flexible rivet feed hose 10.
Move to determine the position to place it in the reveso I/feed groove]-06. This action is carried out against a stop device 1-2 located opposite the delivery end of the rivet feed throat 1-07 (see FIG. 8). This stop device] 12 limits the protrusion of the foot or main body of the rivet soto from the throat 107 into the rivet feed. The protrusion of this rivet is for this rivet to engage with the patterned gripper 105 (see FIG. 8). What I would like to note here is that this rivet stopping function is necessary in order to completely remove the shuttle device and the gripped rivet from the nosepiece, that is, to make it clear, and this function is necessary to What you do is
This is when the rivet feed assembly and shuttle device are moved to their rivet ejection position, as shown in solid lines in FIG. The rivet feeding groove 106 and the rivet feeding head receive rivets from the rivet feeding and feeding system 108, as shown in FIG. Note also that this is true only when .

6 After the rivet [11] has moved to a position coaxial with the hole previously formed through the workpiece, this rivet]11
can be easily inserted into such a hole. This operation can be performed by opening the patterned gripper 105 to release the rivet. At the same time,
Pressurized air is blown into passageway 114 from pressurized air tank 109 (see FIG. 8). This passage 114 is connected to the rivet feed groove 106. The air pressure by blowing this pressurized air can be used to forcibly move the rivet 1]1 into the rivet opening facing the workpiece. By doing so, the rivet can be moved to the reversing position after the rivet feeding system 62 has ceased operation.

It will be recalled that the action for setting the rivet is carried out by engaging the end of the rivet head in a support bar bush 48 which is supported by a support bar 44. (See Figure 1). It should also be recalled that a supporting rod-shaped bushing 48 is located in the shuttle device between the sealant applicator 61 and the rivet feed system 62 (see FIG. 4).

As best shown in FIG. 4, a supporting rod-shaped bush 4
8 is a solid member generally T-shaped in cross-section, the solid member being aligned within a suitable socket in the shuttle body. The head 116 of the bushing has a substantially rectangular shape with rounded ends (see Fig. 2), and when the supporting rod-shaped bush 48 is positioned coaxially with the hollow shaft of the robot, By the outer end 47 of member 44,
The head 116 of this bushing engages (see FIG. 1).

A guide pin 117.117 extends from the lower end of the bushing head 116 into a guide hole 118 in the shuttle body.
A limited floating action is exerted on the supporting rod-shaped bush 48 against the return spring 119! I can do it.

A cylindrical stem 120 of the support bush extends through the main body of the shuttle device, and the outer end of the stem 120 is longitudinally secured by a C-ring 121. The outermost end of stem 120 is connected to detector ring 58.
The nosepiece 50 is left empty and clear by the action of the appropriate side openings formed by the notches (see FIG. 3).

Next, the characteristics of the single-task end effector 21 that cooperates with the multi-task end effector will be described with reference to FIG. As can be seen from this figure, such a single-task end effector 21 has a generally cylindrical head 130 with an intermediate connection bell-shaped member 131 and a face plate 132.
Togare (;J kerare, this bell-shaped member] 3) and face plate]
32 is coupled to the twisting head 133 of the associated robot by means of known automatic coupling devices. This bell-shaped member 131 includes a device for automatic connection to a pneumatic, fluid, or electrical power source and a connector carried by the robot, thereby
Power corresponding to the power system of the end effector 9 21 is supplied.

A body portion 134 of the helad 1-30 is coupled to the outer end of the bell-shaped member 131, and the body portion 134 has an annular shape and supports a cylindrical bush bearing 135. This bush bearing 135 rotatably supports a substantially cylindrical adjustment member (136), and this adjustment member 136 is characterized by having semispherical sockets 1-1 and 37 formed at its outer end. Yes, this socket l-1,37
is inserted into and aligned with the hemispherical proximal end of a generally T-shaped nosepiece 140 , which has a plurality of spaced connection linkages and associated sensing devices 14 .
2 is retained in the socket] 37 by a spring assembly 141 having a

This is similar to the case where the nose bead 50 of the end effector 20 is subtracted by (=1) as described above.

Similar to nosepiece 50, nosepiece 140
is itself engaged by the processing J4. at right angles to. Sensing device 142 is responsive to such nosepiece alignment to ensure that the robot twists head 1.0 before the riveting cycle is initiated. 4. Position the 0 solid shafts, that is, the main shafts so that they are aligned coaxially.

The nosepiece 140, as shown in FIG. 1, has a cylindrical outer end portion, a bezel, and a foot bushing, which, in the form shown in the drawings, has a
To make stringer frame members 144 clear, they are cut to form flat surfaces 143. Preferably, the stringer frame member 144 is held in place with the workpiece 28, and
As in the case of aircraft shells or wing sections, it is also advantageous for the stringer to be a generally arc-shaped frame member, depending on the shape of the workpiece assembly. Therefore, it is often necessary to selectively rotate the nosepiece 140 about its major axis so that its cut sides clear the curved portions of the longerons.

To perform this function, the adjusting member 136 is rotatably supported in a bush bearing 35, whereby the adjusting member 136 also
It is rotated around the main axis of 0.

For this purpose, a large transmission gear 14
5 is fixed to the inner end of the adjustment member 136 and engaged with the idler gear 146.

This idle gear 146 is supported by a stub shaft 147 that is conveyed to the head member 130. The drive gear 148 is fixed to a shaft 149, which is driven in rotation via an electric or pneumatic motor 150 and a reduction gear 151 supported on the bell-shaped member 131 of the intermediate connection. . This rotational drive is controlled by the end effector's computer. In this case,
Feedback device 152, which determines the position of the main axis, aligns shaft 153, and this shirt! -1,53 are fixed and fixed so as to be rotated by drive gear 148. In this state, when the nosepiece is rotated to a prescribed angle, a signal is output to the computer, and this signal stops the power supply to the motor 1-50.

The annular cylinder 160 is connected to the bell-shaped member 131 of the intermediate connection.
, which actuates a piston 161 of a cylindrical foot bushing (double action), which is suitably sealed to the cylinder 160 by a movable seal 162 and a fixed seal 163, respectively. The outer end of the screw I/N 161 is fixed to the head 130 of the end effector 21. Accordingly, by flowing a pressurized fluid, such as air, into the end chamber 164 of the cylinder 1.60, the piston 16] and the nosepiece are moved in the direction of the stringer and the tool, and the piston 161 and the endpiece are moved toward the stringer and the tool. movement causes the end piece to engage the interior of the longeron and the bar. The movement of the piston 161 in the opposite direction is caused by the release chamber 164 and the pressure chamber 1 for moving the piston 161 in the opposite direction.
65.

When the two nosepieces 50, 140 press against the assembled workpiece, the sensing device 55 of the nosepiece 50 outputs a signal to the computer of the end effector. This signal controls the gripping pressure to a predetermined level so that no distortion is applied to the workpiece, and also controls the setting tool during rivet preparation and setting. It is for holding.

Inside the bell-shaped member 130 of the cylindrical intermediate connection, a hammer assembly] 70 for setting a rivet is mounted coaxially, and the hammer assembly 1, 70 is a relatively large structure, Cylindrical hammer sliding? In! ] 71
It is equipped with This hammer sliding member 171 is movably supported by an annular sliding bearing] 72, 172 and seal members 173, 174 for support,
The sealing member 173, ]74 engages the cylindrical interior of the bell-shaped member 1-30 to form an annular pneumatic piston chamber 175. This piston chamber 1
Reference numeral 75 is for moving the hammer sliding member 171 linearly. A fixed seal 4 device 176 also extends between the inner wall 177 of the bell-shaped member 1-30 and the hammer slide member 171.

By introducing pressurized air into one end of the chamber 175, the hammer slide member 171 moves into the nosepiece 140.
Pressurized air can be introduced into the other end of chamber 175 by moving it in the opposite direction. This chamber 175
The other end is on the opposite side of such sealing device 173.

A pneumatically actuated hammer assembly 180 is coaxially supported within the hammer sliding member 171, and a reciprocating or vibrating hammer 1 is mounted on the outside of the hammer assembly 1.80.
81, the hammer 181 engages the foot of a rivet inserted through the workpiece and stringer, as shown in the drawings, to turn the robot upside down without inversion.

The various components and assemblies included in the improved end effector of the present invention described above perform a typical rivet setting operation generally in accordance with the following procedure.

First, determine the positions of the two robots. To position these two robots, use the twist head of this robot,
by making the end effector generally perpendicular to the parts 28 to be assembled, coaxial with this twist head, and spaced approximately 2 inches apart. The purpose of spacing the end effectors in this manner is to allow the end effectors to easily approach opposite sides of the parts to be assembled. The end effector 20 is then moved to engage the outer end of its nosepiece with the workpiece 28 and to apply the engaged pressure j! Align it to the surface of 1.

In this case, it should be remembered that the nosepiece 50, which is fitted with a spatial extension, outputs a signal via the sensing device 55. This signal is indicative of the perpendicularity of the angle that the nosepiece makes with the endpiece or the engaged workpiece. When this engagement occurs, the robot's computer detects the alignment signal output from sensing device 55 and adjusts the robot's twist head. This adjustment of the twist head is intended to make the hollow shaft of the robot coaxial with the main axis of the end effector. At the time of this connection, the shuttle device 60 of the end effector 20 is aligned so that the drilling station 63 is coaxial with the hollow shaft of the robot, and the drill 27 is pulled out, that is, retreated, together with the supporting rod member 44. This is a preparatory stage for performing a drilling operation.

After carrying out the procedure of aligning and engaging the end effector 20 with the J jig, move the end effector 21 forward and align it coaxially with the end effector 20. Advancement of the end effector 2 is continued until the end effector 21 engages the stringer 144. If the stringer is not in the assembly, the end effector 21
is engaged with its nosepiece 40. The angle of the spherical nosepiece is checked against predetermined shape limits and adjusted so that the twist head of the end effector 21 is coaxial with the nosepiece 140.

After that, remove the footbushico screw from 161.
The girder chamber 164 is advanced to a predetermined clamping force by means of a computer-controlled air relief system, and the clamping force is used to engage the chamber 64, along with the assembly of parts, to the nosepiece. let In this way, the workpiece is reliably clamped between the two end effector nosepieces while at the same time
The thickness of the material of 1 is measured. This measurement of the material thickness of the workpiece is performed using a computer with reference to two end effectors and a robot positioning device. After that,
A series of fixture selection procedures is initiated to feed the appropriate tool into the rivet feeding system 62. Thereafter, the hollow shaft of the spindle of the first robot is activated to begin the drilling preparation procedure.

Constantly monitor and control the depth, drilling rate, feed rate, and thrust force while performing this drilling preparation procedure.

After completing the drilling cycle, the tool 27 is inserted using the hollow shaft.
Pull out the end effector 2, move it backward, and remove the end effector 2.
0 for the multi-tasking shuttle system of the end effector 20, thereby using the actuator silk body 70 to move the multi-tasking shuttle system of the end effector 20 to the sealant applicator module 61. Perform positioning. The sealant applicator module 61 is positioned so that the sealant applicator module 61 is coaxial with the hollow axis of the aligned end effector.

After this positioning, the module of the sealant applicator is moved in an arc and the sealant applicator of this module is rotated to apply sealant to the hole and the countersunk portion already formed by the tool 27. perform an action.

After the sealant application operation is completed, the module of the sealant applicator is withdrawn from the rivet hole and the shuttle device is activated to position the fixture assembly 62 in alignment with the rivet hole. This rivet hole is a hole for inserting the already selected fastener. What you want to remember in this case is to pull the fixture out of the gripper device and
By opening, the fixture is inserted into the drilled hole under the action of actuating air pressure.

When this is completed, move the shuttle device 60,
The supporting rod-shaped bushing 48 is positioned so as to face the fixing device.Then, the outer end of the supporting rod-shaped member 44 is engaged with the supporting rod-shaped bushing 48, and this rod-shaped bushing is 48 into the head of the fixture.

The fastener holding force exerted by the support bar on the fastener head is well programmed and this force, along with the amount of support, is constantly monitored throughout the rivet setting operation. This amount of support is automatically compensated. This automatic compensation of the amount of support is done by adjusting to a neutral state using a computer.

Thereafter, the second robot is moved to engage the vibrating hammer assembly [80] with the rear end of the rivet fixture, and in this case, the pressure exerted by the hammer tool [81] on the rear end of the fixture is reduced. The value is well programmed and this force is monitored throughout the rivet setting operation. After that, vibration is started to reverse the rear end of the rivet,
The power of the vibrating tool, the force on the rear end of the rivet, the setting time, and the height of the rivet in the reversed state are monitored, and these monitors are sent to the control computer for monitoring. Use as information. While setting the rivet, engage the ends of the head of the rivet to be manufactured with slightly more pressure than the back of the rivet when it is reversed to ensure seating of the head of the rivet to be manufactured. Although generally reliable, installation time can be optimized by varying the pressure applied to the head and rear ends of the rivet.

A series of operations other than applying the sealant are schematically shown in FIGS. 9 to 13. This operation is for preparing the perforation, inserting the rivet, and reversing the rivet. After the rivet is set to satisfy predetermined parameters, the supporting rod member and the hammer are pulled out, the two end effectors are separated, and the additions], ', J'+ are released. Thereafter, the robot is moved to face the next set position, and the subsequent cycles are repeated.

To reduce cycle time, when moving the robot between holes, all sliding parts and the slide system can be reset to the initial starting position to facilitate the next cycle. state.

〔Effect of the invention〕

The present invention, constructed as described above, allows the mounting of the end effector for the movable tool head of a robotic machining center or "robot" to be performed in a number of improved manners for conveying the equipment. We can provide you with the tools. Furthermore, the end effector of the present invention allows
This provides effects such as being able to operate a plurality of selected machining tools.

[Brief explanation of the drawing]

1 is a partial plan view of an end effector equipped with a pair of corresponding robots for removing rivets in accordance with the present invention; FIG. 2 is a partial plan view of the end effector of FIG. FIG. 3 is another partially enlarged cross-sectional view taken along line 3-3 of FIG. 2 in the direction of the arrow; Fourth
The figure is a cross-sectional view taken along the line 4-4 in Figure 2 in the direction of the arrow, Figure 5 is an enlarged plan view of the sealant application module shown in Figure 4, and Figure 6 is the view shown in Figure 5. 7 is an enlarged plan view of the rivet feeding and insertion device shown in FIG. 4, and FIG. 8 is a partial cross-sectional view along the longitudinal direction of the sealant application module shown in FIG. The enlarged cross-sectional views taken along the line in the direction of the arrows, FIGS. 9 to 13, are schematic diagrams showing the procedure for sequentially installing rivets. 20... Multitasking end effector, 2]
...Ngle task type end effector, 25.
... Hollow shaft, 26 ... Tool holder, 27 ... Drill, 28 ... 4 pieces, 30 ... Head, 3 Tobel-shaped members, 32 ... Face plate, 33 ... Main body, 34.Inner wall, 35..Skirt portion, 36..Wall member, 37.
Chamber, 38... Positioning member, 3... Bearing, 40 Seal, 4]... Return spring, 4
2... Outer end portion, 44... Rod-shaped member for support, 45.
- Main body part, 46... Skirt part, 47... Outer end part, 48... Rod-shaped bushing, 50... Nose piece, 5
1... Base end portion, 52... Hemispherical outer surface, 53... Coil spring, 54... Connector rod, 55...
- Detection device, 56... Foot bush, 57... Cylindrical passage, 58... Pressure detector, 60 - Shuttle device, 61... Sealant applicator, 62... Rivet feeding system, 63 ...Drilling station, 65. Main body, 66. 67. Side part, 68. Sliding rail, 69.
... Sliding pad, 70... Cylinder and piston assembly, 71... Bracket, 72... Piston rod, 73... Lateral drive arm, 75... Main body, 76... Bihot shaft, 77...Motor, 78...End, 79...
・Sealant nozzle, 80...opening, 81.82・
...stopping device, 85...boss, 86...chamber,
87... Rotating shaft, 88... Passage, 89... Internal passage, 90... Motor, 9] Motor-driven drive shaft, 92... Drive gear, 93°9495... To [
Boat fishing gear, 100... Main body, 1, O]... Pivot support, 1.02... Electromagnetic motor, 103...
・Stop 1・, device, 104... gripper mechanism, 105
...Gripper, 1.06...Rivet feeding groove, 10
7... Rivet feeding head, 108... Rivet feeding and supply system, 109... Pressurized air tank,
1-1. O...Rivet supply hose, 111...
Rivet, 112...stopping device, 114...passage,
116... Bushing head, 117... Guide pin, 118... Guide hole, 119... Return spring,
1, 20...Stem, 12]...C ring, 130
... Head, ] 31 ... Bell-shaped member, 1-32 ... Face plate, 133 ... Twist head, 134 ... Main body,
5 135... Bush bearing, 136... Adjustment member, 137... Socket, 140... Nose piece, 141... Spring assembly, 1-42... Detection device, 143... Flat Surface, 144... Frame member of stringer, 146... Idle gear, 148... Drive gear,
149...shaft, 150...motor, 151...
・Reduction gear, ]52... Feedback device, 153
... Shaft,]60...Cylinder, 161...Piston, 164...Escape chamber, 165...Pressure chamber, 170...Hammer assembly, 171...Hammer sliding member,]72 ...Sliding bearing, 173...
Seal device, 1.73, 174...Seal member, 175
. . . Air actuated screw) chamber, 176 . . . Fixed sealing device, 177 . . Inner wall,] 80 . . . Hammer assembly, 181 . . . Hammer. 6

Claims (1)

[Claims] 1. A multi-tasking system that is attached to a twist head movable in an arc shape of a computer-controlled robot and that allows the robot to perform many linear and rotational movements. In the end effector, the multitasking end effector includes a substantially cylindrical intermediate connection part coaxially and removably connected to the end effector at the outer end of the twist head of the robot, and the intermediate connection part The multitasking end effector also connects the power drive of the end effector to the robot's power supply system, and the multitasking end effector has a generally cylindrical tool head, and the tool head has a hollow elongated body. and the main body of the tool head is coaxially attached to the outer end of the intermediate connection part, and the multitasking end effector has a substantially cylindrical nosepiece, and the multitasking end effector has a substantially cylindrical nosepiece, is attached to the outer end of the main body so as to be coaxial and capable of limited rotational movement with respect to the outer end of the main body; A multitasking end effector comprising a sensing device responsive to rotational movement of the nosepiece to indicate non-coaxial alignment between the nosepiece and the main body. 2. The end effector according to claim 1, wherein the main body of the tool head has a concave hemispherical outer end surface, and the nose piece has a hemispherical inner end surface. 3. A plurality of spring-loaded linkages extend between the nosepiece and the body of the tool head, connecting the nosepiece and the body of the tool head to form a hemisphere of the body of the tool head. 3. The end effector of claim 2, wherein the nosepiece is capable of limited rotational movement about its inner surface by aligningly engaging the end surfaces of the shapes. 4. The end effector of claim 3, wherein the sensing device is connected to each of the link devices at arcuately spaced locations around an outer end of the tool head. 5. The end effector of claim 1, wherein a shuttle device is movably mounted on the nosepiece and supports selected tools on the nosepiece. 6. The shuttle device is formed of an elongate member, the elongate member being attached to the nosepiece for bidirectional linear movement transversely to the central axis of the nosepiece, and the tool moving along the length of the elongate member. The end effector according to claim 5, wherein the end effector is attached to a predetermined position of the tool along the longitudinal direction. 7. The power activation device may selectively perform an indexing operation for moving the elongated member to align each tool on the elongated member coaxially with the central axis of the nosepiece. 7. The end effector according to claim 6, wherein the end effector is capable of 8. The shuttle device includes a power actuated sealant applicator, the sealant applicator defining a fixture hole formed in the workpiece supported adjacent the outer end of the nosepiece. 7. The end effector according to claim 6, wherein the end effector is capable of applying a sealant to the end effector. 9. The sealant applicator includes a rotatably mounted main body and a sealant dispersing device extending from one end of the main body, the sealant dispersing device having a rotationally driven nozzle device; A rotationally driven nozzle device disperses sealant, and the sealant applicator includes a device for supplying sealant to the nozzle device, a power-activated device for rotating the nozzle device, and a predetermined device. 9. The end effector of claim 8, further comprising an additional power actuated device for rotationally displacing the body member within limits. 10. The shuttle device supports a fixture feeder for inserting a selected fixture into the fixture opening;
The fixture opening is formed in a workpiece positioned adjacent the outer end of the nosepiece, and the shuttle device further moves the fixture feeder away from the central axis of the nosepiece. supporting an attachment device for movement about separate axes, the shuttle device further configured to confine movement of the fixture feeding device between a fixture receiving position and a fixture delivery position; 7. The end effector of claim 6, further supporting a power activated device. 11. The fastener delivery device has an elongated body portion, and the attachment device of the fastener delivery device includes a rotational shaft fixed transversely through the body portion and Rotatably supported on the shuttle device, the attachment device of the fixture supplying device further includes a motor device connected to the rotating shaft and rotating the rotating shaft, thereby moving the main body portion to the 11. The end effector of claim 10, wherein the end effector is rotatably actuated between a fixture receiving position and the fixture delivery position. 12. The shuttle device transports the fixture feeding device to feed the selected fixture into the fixture opening formed in the workpiece part with the nosepiece facing, and the shuttle device carrying a movably supported body portion, the body portion having a fixture-receiving chamber adjacent one end; the shuttle device transporting the fixture when the body portion is in a first position; into the chamber, the shuttle device being operable to cause the chamber to be aligned coaxially with the central axis of the nosepiece when the chamber is indexed by the shuttle device. , carrying an apparatus for moving the body portion between the first and second positions, the shuttle apparatus moving the fixture into the chamber while moving the body portion to the second position. carrying a device capable of selectively holding the fixture in the chamber and releasing the fixture to transport the fixture from the chamber, the shuttle device actively transporting the fixture from the chamber; The end effector according to claim 6, wherein the end effector carries a device for sending out. 13. The apparatus for displacing the fixture from the chamber includes a pressurized air flow directed into the chamber to force the fixture out of the chamber. 12. The end effector according to 12. 14. The shuttle device includes a bushing member movably mounted at one of the predetermined positions, the bushing member being indexed by the shuttle device into alignment with the shuttle device. The member is mounted for reciprocating movement along an axis coincident with the central axis of the nosepiece, and the shuttle device further includes a supporting member coaxially mounted within the tool head. a rod-like member; a power-activated device for longitudinally advancing and retracting the supporting rod-like member into engagement with and disengagement from the bushing; and a fixture. an aperture of the fixture formed in the workpiece, the head of which is engaged in coaxial alignment with the bushing, and the head of the fixture is oppositely engaged by the outer end of the nosepiece; 8. The end effector according to claim 7, further comprising a stem portion of said bush for insertion into said bushing portion.